I drive both CVT and AT cars. From experience, during a cold start, letting the engine warm up a while before driving is much better. Why? When it's cold, and you straight put it into D or R, the RPM straight drops, and where does the RPM go? Straight into the GB, causing a kickback.

If you noticed cold start RPM is always higher (Idle ~> 1k), Innova 2013 (4AT) is ~2k RPM, HRV 1.8 ~1.5k, Axia ~1.5k. and when you engage a gear, the RPM will drop almost instantly. It's not like the engine will slow down only your GB will engage.

If not mistaken there's a video out there on Myvi's not sure if CVT or AT about the GB oil seal getting damaged due to the pressure from a cold start when changing into gear.